SWARM
DDS-BASED HETEROGENEOUS ROBOTS COMMUNICATION MIDDLEWARE
Ekrem Aksoy, Selçuk Canbek, Nihat Adar
- Year
- 2011
- Citations
- 2
Abstract
OMG (Object Management Group) DDS (Data Distribution Service for Real-time Systems) is an open international communication middleware standard for real-time and embedded systems. In this paper, a communication middleware model based on OMG DDS for multi-robot environments is presented. With the help of DDS QoS mechanism and Publish/Subscribe paradigm, proposed communication middleware abstracts different robot implementations sharing same domain (i.e. heterogeneity)
Keywords
Middleware (distributed applications)Computer scienceMessage oriented middlewareImplementationCommunication in small groupsRobotDistributed computingCommon Object Request Broker ArchitectureQuality of serviceModels of communication
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